US20100217405A1 - Functional Hand Prosthesis Mechanism - Google Patents
Functional Hand Prosthesis Mechanism Download PDFInfo
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- US20100217405A1 US20100217405A1 US12/523,643 US52364307A US2010217405A1 US 20100217405 A1 US20100217405 A1 US 20100217405A1 US 52364307 A US52364307 A US 52364307A US 2010217405 A1 US2010217405 A1 US 2010217405A1
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- hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/588—Hands having holding devices shaped differently from human fingers, e.g. claws, hooks, tubes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/5044—Designing or manufacturing processes
- A61F2002/5055—Reinforcing prostheses by embedding particles or fibres during moulding or dipping, e.g. carbon fibre composites
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2310/00—Prostheses classified in A61F2/28 or A61F2/30 - A61F2/44 being constructed from or coated with a particular material
- A61F2310/00005—The prosthesis being constructed from a particular material
- A61F2310/00011—Metals or alloys
- A61F2310/00017—Iron- or Fe-based alloys, e.g. stainless steel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2310/00—Prostheses classified in A61F2/28 or A61F2/30 - A61F2/44 being constructed from or coated with a particular material
- A61F2310/00005—The prosthesis being constructed from a particular material
- A61F2310/00011—Metals or alloys
- A61F2310/00035—Other metals or alloys
- A61F2310/00047—Aluminium or Al-based alloys
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2310/00—Prostheses classified in A61F2/28 or A61F2/30 - A61F2/44 being constructed from or coated with a particular material
- A61F2310/00005—The prosthesis being constructed from a particular material
- A61F2310/00161—Carbon; Graphite
Definitions
- the present invention is in the field of the prosthetic devices. It particularly refers to a functional prosthesis for the human hand, and offers anyone with an amputation a different rehabilitation option by using a practical, efficient and innovative technology.
- the first prostheses had a merely esthetical function meaning that they were not functional. Thereafter, mechanical prostheses were developed. Still later, the upper limb (arm) prosthesis, which is operated by a whip that follows the movements of the shoulder, came to be substituted for the traditional mechanical clamp or hook prosthesis.
- U.S. Pat. No. 5,013,326 (“US '326 patent”) describes a hand provided with turned fingers of a certain curvature, their axis being at a 30° angle with respect to the angle of the forearm. This device is able to grab elements or lift small objects located on a surface. The movement of the turned phalanges is transmitted by means of an internal rack.
- JP '044 bases its operation on a mechanism which is very similar to the one described in the US '326 patent.
- the mechanical system in JP '044 corresponds to 3 hooks located in such manner that they simulate the thumb, index and middle fingers. It approaches part of its description on the actuator that generates the movement of the hand.
- U.S. Pat. No. 5,200,679, 1993 (“US '679 patent”) describes a robotic hand which uses a prosthetics element which includes 5 fingers. It has a dual action motor that uses two cables to generate the opening and closing movements of the hand. When the motor turns in one direction, it generates tension on the first cable, which causes the phalanges to retract toward the palm of the hand, generating the closing movement. Afterwards, tension is generated on the second cable, due to the inverse turn of the motor, that causes the fingers to return to the original extension position which is the opening of the hand.
- U.S. Pat. No. 4,114,464 (“US '464”) deals with an artificial hand mechanism which has at least one finger and a thumb which generate together the opening and closing movement of the hand by means of a gear joined to each one of them. At the same time, they are adjusted to a screw tip gear that is coupled to a motor.
- U.S. Pat. No. 4,377,305 (“the '305 patent”) describes the functioning of an artificial hand which has two fasteners which articulate on a bolt that provides them with the opening and closing movement of the fasteners, and also provides them with a flexion-extension movement over the same quadrant or plane as the opening and closing movement.
- the fasteners can rotate since they are assembled on an axis parallel to the axis of the bolt.
- the opening and closing movement of the fasteners is done by means of a curve section dual rack and a straight gear mechanically coupled to them. It also has an adduction and abduction movement as well as a wrist turn.
- U.S. Pat. No. 5,080,681, 1990 (“US '681”) describes the functioning of an artificial hand that consists of two mobile phalanges and a hook that simulates the thumb.
- the closing and opening movement of the phalanges described in this prosthetic mechanism is provided by means of a mobile mechanism activated by an actuator.
- the mobile device glides through a guide which is located on the chassis of the artificial hand. It has a system of artificial tendons which are joined to the mobile device on one side and then to the phalanges. When the device moves towards proximal (the patient's body), the tendons contract and generate the closing movement of the fingers and when the device moves towards distal, the tendons relax and generate the opening movement of the fingers.
- U.S. Pat. No. 5,888,246 (“US '246”) describes the coupling between a worm gear and a round gear joined to a finger member.
- the worm gear transmits the movement to the round gear which generates the angular movement of a member simulating a finger.
- This coupling may be coupled to an artificial hand.
- U.S. Pat. No. 5,378,033 (“US '033”) describes a complex hand mechanism which consists of three fingers assembled on a pair of plates which are toothed in three sections of their periphery. The hand may be turned by means of gears which transmit the movement coming from a motor. Opening and closing movements are given by means of a mechanism which has two conical gears joined, one to the axis of the motor and the other to a cam with a follower that is joined to three elements that serve as a guide for the base of the fingers. The maximum elevation trajectory of the follower generates a movement to the three guides joined to each finger.
- GB 2072020 (“GB '020”) describes the functioning of a hand prosthesis that uses a standard worm gear for the opening and closing action of the fingers. This particular hand prosthesis is similar to the invention except that the movement of the finger, the placement of the motor, the type of impeller screw, and the coupling of the motor to the worm gear are different in the present invention from those disclosed in GB '020.
- the mechanism for a functional prosthesis for a hand includes a support plate 5 having a ‘U’ shape with a hole through the central part of the curvature at the proximal end that supports an actuator which is, preferably, a DC motor.
- the internal walls of the support plate have a pair of guides 5 b that support a safety plate 10 .
- a second pair of displacement guides 5 a receive a displacement mobile 8 which glides with a linear movement along the guides. As shown in FIGS. 8 and 9 , movement of the mobile within the displacement guides is controlled by a worm gear 9 having four channels 9 a .
- the worm gear joins the actuator shaft of a DC motor 13 at its proximal end 14 .
- the prosthesis also has an artificial wrist 16 located near the proximal end of the support plate 5 where part of the actuator body of the DC motor is located 13 .
- a join plate 11 joins support plate 5 with the artificial wrist 16 .
- FIG. 1 is an exploded perspective view of the mechanism for a functional prosthesis for a hand.
- FIG. 2 is a perspective view joining the elements described on FIG. 1 .
- FIG. 3 is a perspective view of the artificial wrist.
- FIG. 4 is an exploded view of the system's fingers.
- FIG. 5 is a perspective view showing the detail of the index finger and the spring and the tensor.
- FIG. 6 is a perspective view of the support plate for the hand's elements.
- FIG. 7 is a partial perspective view of the longitudinal section of the support plate.
- FIG. 8 is a perspective view of the worm gear with four channels and a bearing.
- FIG. 9 is a perspective view of the displacement mobile.
- FIG. 10 shows the placement and connection of the finger's coupling with the worm gear and displacement mobile.
- FIG. 11 depicts the displacement mobile coupling with the worm gear.
- the mechanism for a functional prosthesis for a hand consists of an artificial hand module with opening and closing movements. This action is generated by means of a worm gear system 9 and a displacement mobile 8 .
- the prosthesis can be manufactured preferably in aluminum, nylon, carbon fiber, stainless steel and bronze.
- the functional prosthesis mechanism for a hand has a support plate 5 which may be made of a light and highly resistant material such as alumec 89 .
- the support plate is formed generally into a “U” having opposite sidewalls and a rear wall.
- the special feature of this support plate is that it has displacement guides machined into the internal side of its opposing sidewalls, 5 - a , shown in FIG. 7 , parallel to the actuator's rotor axis 13 .
- a direct current (DC) motor is used, which permits the guide pins 8 c of the displacement mobile 8 , shown in FIG. 9 , to glide in a linear movement within the sidewalls of the support plate 5 to generate the action of opening and closing of the fingers.
- Each sidewall of the support plate 5 also has a channel guide 5 b machined in a direction perpendicular to the actuator's rotor axis, which serves to hold the safety plate 10 , and which prevents the actuator's shaft 13 from coming out of the actuator's casing when a very high pressure is placed upon it as a result of lifting elements of considerable weight.
- the support plate also has holes in its sidewalls to accept the shafts 6 and 7 a in FIG. 1 , over which the fingers are articulated. In the preferred embodiment, the holes are drilled although they may also be created by other means. A hole is also formed in the rear wall where the actuator, 13 extends through the support plate 5 and is fastened or coupled to the support plate by means of fastening elements, such as stud bolts, rivets, or other suitable attachment means.
- an artificial wrist 16 is located near the proximal part (rear wall) of the support plate 5 .
- the wrist 16 has a cavity for the actuator 13 and a slot 16 a where an end of the join plate 11 is secured.
- the join plate 11 secures the artificial wrist with a joint plate by means of fastening elements. In this manner, it provides support and linkage to the actuator 13 .
- the artificial wrist may also have holes to receive bolts or other fasteners to attach the wrist to a mechanical element or a user's forearm extension.
- the artificial hand mechanism has three fingers.
- the thumb 1 with its toe 1 - b provides a large contact surface.
- An opposing index finger includes an articulated distal phalange 2 and an index finger body 3 .
- a middle finger 4 also opposes the thumb. These elements are attached to the distal end of the support plate 5 and are articulated and supported on the support plate using bolts 6 and 7 a .
- the articulated distal phalange 2 , the index finger body 3 , the middle finger 4 and the thumb 1 are assembled on the support plate 5 , as shown in FIG. 2 .
- the articulated distal phalange element 2 is articulated on the index finger body 3 by means of a bolt or pin 7 .
- hollow pin 3 a fits into hole 5 e located on the support plate 5 .
- the middle finger 4 transmits its movement to index finger body 3 by means of a bolt or pin 6 .
- a rectangular bolt 6 is used, which enters into pins 3 a and 4 b .
- FIG. 1 shows bolt 6 having a cylindrical element at one end which is inserted into hole 5 f in FIG. 6 , and is secured by a fastening element (not shown).
- Thumb 1 is articulated by means of a bolt 7 a which is secured in holes 5 d and 5 g .
- Finger 1 is attached to bolt 7 a by a fastening element (not shown).
- Thumb 1 is opposed to the two remaining digits and their opening and closing movement is carried out by means of the stress between the worm gear 9 and the pins of the displacement mobile 8 .
- the movement is transmitted by an actuator 13 which, in the preferred embodiment, is a DC motor.
- Fingers 1 and 4 have gliding guides, 1 a and 4 a , respectively, depicted in FIG. 4 , which are guided by guide pins 8 c as the displacement mobile 8 moves. These guides permit an angular displacement of the fingers by the linear movement of the displacement mobile 8 , which moves along the worm gear 9 that is mechanically joined to the actuator shaft 13 .
- the displacement mobile 8 is shown to have four channels 8 b which are threaded onto worm gear 9 . Projecting tongues 8 a glide within guide channels 5 a and its corresponding opposite channel machined into the opposite face of support plate 5 . These channels permit displacement mobile 8 to glide within support plate 5 while maintaining a completely linear displacement.
- worm gear 9 has a safety plate 10 which is located on the support plate 5 , and that prevents worm gear 9 from gliding or have a clearance over support plate 5 .
- Safety plate 10 also provides safety to actuator shaft 13 when the patient lifts elements of considerable weight.
- guides 5 b are machined into opposite sides of support plate 5 within which the safety plate 10 may be adjusted. These guides provide a limit for the plate, thus preventing safety plate 10 from being displaced or having undesired movement with respect to support plate 5 .
- a bearing 14 is located adjacent to actuator shaft 13 to provide a means for adjustment and to prevent prevents the friction between worm gear 9 and safety plate 10 .
- the speed with which the fingers open and close depends upon the relationship between the number of screw gear channels and the diametric pitch of those channels. However, other embodiments may have a greater or lesser number of channels, depending on the needs of the system.
- a worm gear is disclosed as a drive system for opening and closing the fingers. These devices use a standard chord for the worm gear, in contrast to the one used in the present invention.
- the problem with the devices shown in GB '020 and CN '18Y is that the speed with which the fingers may be opened or closed is dependent upon energy consumption of the device; that is, a higher consumption of energy is required by the actuators in order to accelerate the opening or closing of the fingers. At the same time, a higher operating speed reduces the torque or power available from the DC motor, and would be manifested by the fingers having too little strength to lift elements with a considerable weight. On the other hand, if a larger torque is required, the speed with which the fingers open and close would be considerably reduced.
- the problem of opening and closing speed is solved with the worm gear disclosed in the present invention, which is not a standard gear, but in the preferred embodiment has four channels which allows a forward movement of between 4 and 5 times greater than would be possible with conventional gears. This allows the worm gear of the invention to have considerable speed and an elevated torque without having higher current consumption.
- a four channel screw 9 a By using a four channel screw 9 a , a good finger opening and closing speed and a high torque are obtained, and neither speed nor strength, which are extremely important for a hand prosthesis, are sacrificed, and a higher electric power consumption is not encountered.
- the actuator must be polarized or energized in an inverse manner, which generates a displacement of the mobile 8 from distal to proximal along the displacement guides 5 a .
- FIG. 10 the opening and closing movement of the fingers is depicted, along with the coupling of the fingers over the guide pins 8 c of the displacement mobile 8 and the mobile's threaded connection to the worm gear 9 .
- the system is provided with electromechanical switches which prevent the opening and closing system of the fingers to continue operating after reaching the maximum opening and closing limits. When the maximum operational limits are reached, the current that is sent to the actuator is shut off.
- the articulated phalange 2 maintains an original position (of extension) when the hand is open by means of a resistive element or spring 2 a located between phalange 2 and index finger body 3 , as shown in FIG. 4 .
- a resistive element or spring 2 a located between phalange 2 and index finger body 3 , as shown in FIG. 4 .
- the hand closes there is an internal tensor element 3 b in the index finger body 3 that causes phalange 2 to retract toward the internal part of the hand, breaking the strength of the spring 2 a .
- Retraction of phalange 2 is caused by pressing it in such a way that, when the finger reaches its maximum closing position, toe 1 b of thumb 1 contacts the articulated phalange 2 . This contact allows the patient to grasp small elements between the toe 1 b and phalange 2 with higher precision and control.
- the spring 2 a that is under compression operates again causing phalange 2 to return to its original position and the tensor 3 b is at rest.
- the artificial hand has a closer resemblance to a natural one.
- artificial hands already in the market have a thumb that is longer than a human thumb.
- the prosthesis of this invention provides a more natural movement, as described, and provides the patient with greater ability to use the hand in a natural manner.
- the dimensions of the mechanism for a functional prosthesis mechanism for a hand, within its mechanical elements, are subjected to the patient's anatomy and may be varied in order to provide the patient with a prosthesis that largely mimics the natural movements of a human hand.
- the spring 2 a that is under compression operates again causing phalange 2 to return to its original position and the tensor 3 b is at rest.
- the artificial hand has a closer resemblance to a natural one.
- artificial hands already in the market have a thumb that is longer than a human thumb.
- the prosthesis of this invention provides a more natural movement, as described, and provides the patient with greater ability to use the hand in a natural manner.
- the dimensions of the mechanism for a functional prosthesis for a hand, within its mechanical elements, are subjected to the patient's anatomy and may be varied in order to provide the patient with a prosthesis that largely mimics the natural movements of a human hand.
Abstract
Description
- This application is the United States National Phase of International Application No. PCT/MX2007/000148, filed Dec. 4, 2007 which claims priority under 35 U.S.C. 119(a-d) to Mexican Application No. MX/a/2007/000682.
- The present invention is in the field of the prosthetic devices. It particularly refers to a functional prosthesis for the human hand, and offers anyone with an amputation a different rehabilitation option by using a practical, efficient and innovative technology.
- For quite some time, the need to develop apparatus or systems to help those who have lost an upper or lower limb either due to an accident or a malformation from birth, has led to the exploration and development of prostheses in this capacity. As a result of the development of a functional prosthesis, the population who suffered an amputation is offered an option for their rehabilitation which employs the technological developments that have been generated in this invention.
- The first prostheses had a merely esthetical function meaning that they were not functional. Thereafter, mechanical prostheses were developed. Still later, the upper limb (arm) prosthesis, which is operated by a whip that follows the movements of the shoulder, came to be substituted for the traditional mechanical clamp or hook prosthesis. Today there are functional prostheses with a higher technological development which allows them to be ergonomic, easily operated, and having better aesthetics, coming closer to the appearance and functioning of a real leg or arm.
- Based on research, we have found several technologies which apply different mechanisms that focus on the field of the upper limb prostheses, particularly those for the hand. From these technologies, we shall list the ones having a closer technical resemblance to the functional mechanism for a functional prosthesis for a hand.
- U.S. Pat. No. 5,013,326 (“US '326 patent”) describes a hand provided with turned fingers of a certain curvature, their axis being at a 30° angle with respect to the angle of the forearm. This device is able to grab elements or lift small objects located on a surface. The movement of the turned phalanges is transmitted by means of an internal rack.
- Japanese Patent 2,080,044 (“JP '044”) bases its operation on a mechanism which is very similar to the one described in the US '326 patent. The mechanical system in JP '044 corresponds to 3 hooks located in such manner that they simulate the thumb, index and middle fingers. It approaches part of its description on the actuator that generates the movement of the hand.
- Document WO 0069375, 1968 (“WO '375”) discloses a hand prosthesis which has an individual movement in each of its five fingers, each finger having an independent actuator whose movement is controlled by means of extensometric calipers.
- U.S. Pat. No. 5,200,679, 1993 (“US '679 patent”) describes a robotic hand which uses a prosthetics element which includes 5 fingers. It has a dual action motor that uses two cables to generate the opening and closing movements of the hand. When the motor turns in one direction, it generates tension on the first cable, which causes the phalanges to retract toward the palm of the hand, generating the closing movement. Afterwards, tension is generated on the second cable, due to the inverse turn of the motor, that causes the fingers to return to the original extension position which is the opening of the hand.
- U.S. Pat. No. 4,114,464 (“US '464”) deals with an artificial hand mechanism which has at least one finger and a thumb which generate together the opening and closing movement of the hand by means of a gear joined to each one of them. At the same time, they are adjusted to a screw tip gear that is coupled to a motor.
- U.S. Pat. No. 4,377,305 (“the '305 patent”) describes the functioning of an artificial hand which has two fasteners which articulate on a bolt that provides them with the opening and closing movement of the fasteners, and also provides them with a flexion-extension movement over the same quadrant or plane as the opening and closing movement. The fasteners can rotate since they are assembled on an axis parallel to the axis of the bolt. The opening and closing movement of the fasteners is done by means of a curve section dual rack and a straight gear mechanically coupled to them. It also has an adduction and abduction movement as well as a wrist turn.
- U.S. Pat. No. 5,080,681, 1990 (“US '681”) describes the functioning of an artificial hand that consists of two mobile phalanges and a hook that simulates the thumb. The closing and opening movement of the phalanges described in this prosthetic mechanism is provided by means of a mobile mechanism activated by an actuator. When activated, the mobile device glides through a guide which is located on the chassis of the artificial hand. It has a system of artificial tendons which are joined to the mobile device on one side and then to the phalanges. When the device moves towards proximal (the patient's body), the tendons contract and generate the closing movement of the fingers and when the device moves towards distal, the tendons relax and generate the opening movement of the fingers.
- U.S. Pat. No. 5,888,246 (“US '246”) describes the coupling between a worm gear and a round gear joined to a finger member. The worm gear transmits the movement to the round gear which generates the angular movement of a member simulating a finger. This coupling may be coupled to an artificial hand.
- U.S. Pat. No. 5,378,033 (“US '033”) describes a complex hand mechanism which consists of three fingers assembled on a pair of plates which are toothed in three sections of their periphery. The hand may be turned by means of gears which transmit the movement coming from a motor. Opening and closing movements are given by means of a mechanism which has two conical gears joined, one to the axis of the motor and the other to a cam with a follower that is joined to three elements that serve as a guide for the base of the fingers. The maximum elevation trajectory of the follower generates a movement to the three guides joined to each finger. They, in turn, transmit the displacement movement to the base of the fingers that articulate in one of the disks, thus generating a lever effect with which they open. This movement is transmitted to the phalanges by means of a system of gears coupled from the base of the finger to the distal phalanx of the finger on both sides of the finger. When the follower moves upward, the fingers open; when the follower descends, the fingers close.
- Document GB 2072020 (“GB '020”) describes the functioning of a hand prosthesis that uses a standard worm gear for the opening and closing action of the fingers. This particular hand prosthesis is similar to the invention except that the movement of the finger, the placement of the motor, the type of impeller screw, and the coupling of the motor to the worm gear are different in the present invention from those disclosed in GB '020.
- Document CN 2680418Y (“CN '18Y”) describes the functioning of an artificial hand using the worm gear system aided by a lever or rod to move the thumb.
- Among the disclosures described herein, and others existing in the field, there are some hand prostheses which control the function of fingers opening and closing using a worm gear with a standard chord. The present invention is an improvement over such other prostheses in that not only the drive system of the fingers of the present invention, but also the plate that supports the elements, provide a functionality of the fingers and hand that is not found in prior art embodiments.
- The mechanism for a functional prosthesis for a hand includes a
support plate 5 having a ‘U’ shape with a hole through the central part of the curvature at the proximal end that supports an actuator which is, preferably, a DC motor. The internal walls of the support plate have a pair of guides 5 b that support asafety plate 10. A second pair of displacement guides 5 a receive adisplacement mobile 8 which glides with a linear movement along the guides. As shown inFIGS. 8 and 9 , movement of the mobile within the displacement guides is controlled by aworm gear 9 having four channels 9 a. The worm gear joins the actuator shaft of aDC motor 13 at itsproximal end 14. At the distal end of thesupport plate 5, three fingers are assembled and articulated. The prosthesis also has anartificial wrist 16 located near the proximal end of thesupport plate 5 where part of the actuator body of the DC motor is located 13. Ajoin plate 11 joinssupport plate 5 with theartificial wrist 16. -
FIG. 1 is an exploded perspective view of the mechanism for a functional prosthesis for a hand. -
FIG. 2 is a perspective view joining the elements described onFIG. 1 . -
FIG. 3 is a perspective view of the artificial wrist. -
FIG. 4 is an exploded view of the system's fingers. -
FIG. 5 is a perspective view showing the detail of the index finger and the spring and the tensor. -
FIG. 6 is a perspective view of the support plate for the hand's elements. -
FIG. 7 is a partial perspective view of the longitudinal section of the support plate. -
FIG. 8 is a perspective view of the worm gear with four channels and a bearing. -
FIG. 9 is a perspective view of the displacement mobile. -
FIG. 10 shows the placement and connection of the finger's coupling with the worm gear and displacement mobile. -
FIG. 11 depicts the displacement mobile coupling with the worm gear. - The mechanism for a functional prosthesis for a hand consists of an artificial hand module with opening and closing movements. This action is generated by means of a
worm gear system 9 and adisplacement mobile 8. The prosthesis can be manufactured preferably in aluminum, nylon, carbon fiber, stainless steel and bronze. - The functional prosthesis mechanism for a hand has a
support plate 5 which may be made of a light and highly resistant material such as alumec 89. The support plate is formed generally into a “U” having opposite sidewalls and a rear wall. The special feature of this support plate is that it has displacement guides machined into the internal side of its opposing sidewalls, 5-a, shown inFIG. 7 , parallel to the actuator'srotor axis 13. In the preferred embodiment, a direct current (DC) motor is used, which permits the guide pins 8 c of thedisplacement mobile 8, shown inFIG. 9 , to glide in a linear movement within the sidewalls of thesupport plate 5 to generate the action of opening and closing of the fingers. Each sidewall of thesupport plate 5 also has a channel guide 5 b machined in a direction perpendicular to the actuator's rotor axis, which serves to hold thesafety plate 10, and which prevents the actuator'sshaft 13 from coming out of the actuator's casing when a very high pressure is placed upon it as a result of lifting elements of considerable weight. - The support plate also has holes in its sidewalls to accept the
shafts 6 and 7 a inFIG. 1 , over which the fingers are articulated. In the preferred embodiment, the holes are drilled although they may also be created by other means. A hole is also formed in the rear wall where the actuator, 13 extends through thesupport plate 5 and is fastened or coupled to the support plate by means of fastening elements, such as stud bolts, rivets, or other suitable attachment means. - To provide more safety and functionality to the system, an
artificial wrist 16 is located near the proximal part (rear wall) of thesupport plate 5. Thewrist 16 has a cavity for theactuator 13 and a slot 16 a where an end of thejoin plate 11 is secured. Thejoin plate 11 secures the artificial wrist with a joint plate by means of fastening elements. In this manner, it provides support and linkage to theactuator 13. The artificial wrist may also have holes to receive bolts or other fasteners to attach the wrist to a mechanical element or a user's forearm extension. - The artificial hand mechanism has three fingers. The
thumb 1 with its toe 1-b provides a large contact surface. An opposing index finger includes an articulateddistal phalange 2 and anindex finger body 3. Amiddle finger 4 also opposes the thumb. These elements are attached to the distal end of thesupport plate 5 and are articulated and supported on the supportplate using bolts 6 and 7 a. The articulateddistal phalange 2, theindex finger body 3, themiddle finger 4 and thethumb 1 are assembled on thesupport plate 5, as shown inFIG. 2 . - The articulated
distal phalange element 2 is articulated on theindex finger body 3 by means of a bolt orpin 7. As shown inFIGS. 5 and 7 , hollow pin 3 a fits into hole 5 e located on thesupport plate 5. Themiddle finger 4 transmits its movement toindex finger body 3 by means of a bolt orpin 6. In the preferred embodiment, arectangular bolt 6 is used, which enters into pins 3 a and 4 b.FIG. 1 showsbolt 6 having a cylindrical element at one end which is inserted into hole 5 f inFIG. 6 , and is secured by a fastening element (not shown).Thumb 1 is articulated by means of a bolt 7 a which is secured in holes 5 d and 5 g.Finger 1 is attached to bolt 7 a by a fastening element (not shown). -
Thumb 1 is opposed to the two remaining digits and their opening and closing movement is carried out by means of the stress between theworm gear 9 and the pins of thedisplacement mobile 8. The movement is transmitted by anactuator 13 which, in the preferred embodiment, is a DC motor. -
Fingers FIG. 4 , which are guided by guide pins 8 c as thedisplacement mobile 8 moves. These guides permit an angular displacement of the fingers by the linear movement of thedisplacement mobile 8, which moves along theworm gear 9 that is mechanically joined to theactuator shaft 13. - In
FIGS. 8 and 9 , thedisplacement mobile 8 is shown to have four channels 8 b which are threaded ontoworm gear 9. Projecting tongues 8 a glide within guide channels 5 a and its corresponding opposite channel machined into the opposite face ofsupport plate 5. These channels permit displacement mobile 8 to glide withinsupport plate 5 while maintaining a completely linear displacement. - In the preferred embodiment,
worm gear 9 has asafety plate 10 which is located on thesupport plate 5, and that preventsworm gear 9 from gliding or have a clearance oversupport plate 5.Safety plate 10 also provides safety toactuator shaft 13 when the patient lifts elements of considerable weight. As shown inFIG. 6 , guides 5 b are machined into opposite sides ofsupport plate 5 within which thesafety plate 10 may be adjusted. These guides provide a limit for the plate, thus preventingsafety plate 10 from being displaced or having undesired movement with respect to supportplate 5. Abearing 14 is located adjacent toactuator shaft 13 to provide a means for adjustment and to prevent prevents the friction betweenworm gear 9 andsafety plate 10. - The speed with which the fingers open and close depends upon the relationship between the number of screw gear channels and the diametric pitch of those channels. However, other embodiments may have a greater or lesser number of channels, depending on the needs of the system.
- In the patent documents GB '020 and CN '18Y, a worm gear is disclosed as a drive system for opening and closing the fingers. These devices use a standard chord for the worm gear, in contrast to the one used in the present invention. The problem with the devices shown in GB '020 and CN '18Y is that the speed with which the fingers may be opened or closed is dependent upon energy consumption of the device; that is, a higher consumption of energy is required by the actuators in order to accelerate the opening or closing of the fingers. At the same time, a higher operating speed reduces the torque or power available from the DC motor, and would be manifested by the fingers having too little strength to lift elements with a considerable weight. On the other hand, if a larger torque is required, the speed with which the fingers open and close would be considerably reduced.
- The problem of opening and closing speed is solved with the worm gear disclosed in the present invention, which is not a standard gear, but in the preferred embodiment has four channels which allows a forward movement of between 4 and 5 times greater than would be possible with conventional gears. This allows the worm gear of the invention to have considerable speed and an elevated torque without having higher current consumption. By using a four channel screw 9 a, a good finger opening and closing speed and a high torque are obtained, and neither speed nor strength, which are extremely important for a hand prosthesis, are sacrificed, and a higher electric power consumption is not encountered.
- In the present invention, there is a relation between the number of screw channels which control the forward movement, and the speed with which the displacement mobile moves over the worm gear. These parameters may be adjusted depending on the patient's needs.
- The operation manner of this set of elements is as follows: When the
actuator 13 is energized with a positive-negative polarity, its shaft transmits its rotational movement to theworm gear 9. Since they are mechanically coupled, the rotational action of the worm gear causes thedisplacement mobile 8 have a linear displacement, parallel to the actuator'srotor axis 13, form proximal to distal. This displacement causes thefingers displacement mobile 8 moved linearly in a distal direction,fingers - To close the fingers, the functioning is the same, but in the opposite direction. The actuator must be polarized or energized in an inverse manner, which generates a displacement of the mobile 8 from distal to proximal along the displacement guides 5 a. In
FIG. 10 the opening and closing movement of the fingers is depicted, along with the coupling of the fingers over the guide pins 8 c of thedisplacement mobile 8 and the mobile's threaded connection to theworm gear 9. - The system is provided with electromechanical switches which prevent the opening and closing system of the fingers to continue operating after reaching the maximum opening and closing limits. When the maximum operational limits are reached, the current that is sent to the actuator is shut off.
- When the closing movement of the fingers occurs, the movement of the articulated
phalange 2 is generated overindex finger body 3. This mechanism works in the following way: the articulatedphalange 2 maintains an original position (of extension) when the hand is open by means of a resistive element or spring 2 a located betweenphalange 2 andindex finger body 3, as shown inFIG. 4 . When the hand closes, there is an internal tensor element 3 b in theindex finger body 3 that causesphalange 2 to retract toward the internal part of the hand, breaking the strength of the spring 2 a. Retraction ofphalange 2 is caused by pressing it in such a way that, when the finger reaches its maximum closing position, toe 1 b ofthumb 1 contacts the articulatedphalange 2. This contact allows the patient to grasp small elements between the toe 1 b andphalange 2 with higher precision and control. - When the hand opens, the spring 2 a that is under compression operates again causing
phalange 2 to return to its original position and the tensor 3 b is at rest. With this movement, the artificial hand has a closer resemblance to a natural one. Unlike natural hands, artificial hands already in the market have a thumb that is longer than a human thumb. However, the prosthesis of this invention provides a more natural movement, as described, and provides the patient with greater ability to use the hand in a natural manner. The dimensions of the mechanism for a functional prosthesis mechanism for a hand, within its mechanical elements, are subjected to the patient's anatomy and may be varied in order to provide the patient with a prosthesis that largely mimics the natural movements of a human hand. - When the hand opens, the spring 2 a that is under compression operates again causing
phalange 2 to return to its original position and the tensor 3 b is at rest. With this movement, the artificial hand has a closer resemblance to a natural one. Unlike natural hands, artificial hands already in the market have a thumb that is longer than a human thumb. However, the prosthesis of this invention provides a more natural movement, as described, and provides the patient with greater ability to use the hand in a natural manner. The dimensions of the mechanism for a functional prosthesis for a hand, within its mechanical elements, are subjected to the patient's anatomy and may be varied in order to provide the patient with a prosthesis that largely mimics the natural movements of a human hand.
Claims (13)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
MXMX/A/2007/000682A MX2007000682A (en) | 2007-01-17 | Functional hand prosthesis mechanism | |
MXMX/A/2007/000682 | 2007-01-17 | ||
PCT/MX2007/000148 WO2008088204A1 (en) | 2007-01-17 | 2007-12-04 | Functional hand prosthesis mechanism |
Publications (2)
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US20100217405A1 true US20100217405A1 (en) | 2010-08-26 |
US8021435B2 US8021435B2 (en) | 2011-09-20 |
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US12/523,643 Active US8021435B2 (en) | 2007-01-17 | 2007-12-04 | Functional hand prosthesis mechanism |
Country Status (4)
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US (1) | US8021435B2 (en) |
EP (1) | EP2108339B1 (en) |
BR (1) | BRPI0720345A2 (en) |
WO (1) | WO2008088204A1 (en) |
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WO2012036775A1 (en) * | 2010-09-14 | 2012-03-22 | The Johns Hopkins University | Low profile hand-extension/flexion device |
US20120175014A1 (en) * | 2010-03-03 | 2012-07-12 | Yuyama Manufacturing Co., Ltd | Medicament dispensing machine |
US20130226315A1 (en) * | 2012-01-05 | 2013-08-29 | Edward VARLEY | Artificial hand component |
CN106659543A (en) * | 2014-08-15 | 2017-05-10 | 直观外科手术操作公司 | Force transmission mechanism for surgical instrument, and related systems and methods |
CN106821560A (en) * | 2017-01-10 | 2017-06-13 | 北京理工大学 | A kind of two-way gear drive is done evil through another person |
CN109528367A (en) * | 2018-09-19 | 2019-03-29 | 东北大学 | A kind of two finger artificial limbs that assembled can adjust brachium based on 3D printing |
WO2020199240A1 (en) * | 2019-03-29 | 2020-10-08 | 东北大学 | 3d printing-based ratchet stop mechanical prosthesis having airbag and usage method |
WO2022015143A1 (en) * | 2020-07-13 | 2022-01-20 | Pro/Bionics S.A. De C.V. | Hand prosthesis |
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US8483880B2 (en) | 2009-07-22 | 2013-07-09 | The Shadow Robot Company Limited | Robotic hand |
WO2011021921A1 (en) * | 2009-08-19 | 2011-02-24 | Luis Armando Bravo Castillo | Mechanical forearm prosthesis |
ES2388391B2 (en) * | 2010-03-30 | 2013-09-05 | Eurocopter Espana S A | ACTUATOR OF A BUTTON OF A EQUIPMENT AND TEST BENCH EQUIPPED WITH SUCH ACTUATOR. |
US8984736B2 (en) * | 2012-08-10 | 2015-03-24 | Therapeutic Recreation Systems, Inc. | Prosthetic device for handling a ball |
US9758353B2 (en) * | 2013-12-04 | 2017-09-12 | Innovative Minds, LLC | Wireless controllable carousel independently releasable grapling hooks |
EP3102158B1 (en) | 2014-02-04 | 2019-06-12 | Rehabilitation Institute of Chicago | Modular and lightweight prosthesis components |
US9974667B1 (en) | 2015-05-28 | 2018-05-22 | Blain Joseph Cazenave | Electromagnetic actuation mechanism for individual digit control of an artificial hand |
RU199579U1 (en) * | 2017-09-20 | 2020-09-08 | Общество с ограниченной ответственностью "МОТОРИКА" | ARTIFICIAL BRUSH MODULE |
US10869773B2 (en) | 2017-10-10 | 2020-12-22 | College Park Industries, Inc. | Prosthetic fingertip end effectors |
MX2019007093A (en) | 2019-06-14 | 2019-12-16 | Pro/Bionics S A De C V | Finger prosthesis with adjustable biologic activation. |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
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Also Published As
Publication number | Publication date |
---|---|
WO2008088204A1 (en) | 2008-07-24 |
EP2108339B1 (en) | 2012-07-04 |
BRPI0720345A2 (en) | 2013-12-31 |
WO2008088204B1 (en) | 2008-09-04 |
US8021435B2 (en) | 2011-09-20 |
EP2108339A1 (en) | 2009-10-14 |
EP2108339A4 (en) | 2011-03-30 |
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